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检索条件"机构=1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin"

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Modeling and parameters identification of the cross roller guide way

Modeling and parameters identification of the cross roller g...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Yanjie Song, Lei Liu, Niuniu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467312776

The cross roller guide way used in high-acceleration and high-precision motion platform of chip packaging equipment has an important effect on the dynamic performance of the platform. In this paper, the cross roller guide way is simplified to a five degree-of-freedom system and the theoretical model is built according to its working conditions. An experimental system is established and the stiffness and damping of the guide way are identified by a modal testing. By the method of finite element analysis (FEA), the first five mode shapes of the guide way are calculated and they give a more comprehensive description of the vibration characteristics of the cross roller guide way, compared with the traditional double degree-of-freedom model. © 2012 IEEE.

关键词： Finite element method

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Design of tactile sensor for measuring orthocenter deviation and friction in wafer transmission process

Design of tactile sensor for measuring orthocenter deviation...

引用

2012 2nd International Conference on key Engineering Materials, ICKEM 2012

作者： Wu, Jiang Liu, Yanjie Han, Haijun Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853825

In order to raise position accuracy and stability in wafer transmission process, a tactile sensing system which can measure both deviation of wafer to manipulator and friction acting on wafer simultaneously is introduced. Analysis on kinetic model abstracted from sensing system is made, and following algorithms are applied: micro displacement is calculated through pressure values acting on different sensing units, and meanwhile friction is calculated from relative velocity between permanent magnet and inductance. Through simulation, indicators of sensing unit are established. This sensing system has the capacity of detecting deviation ranging 0-5 mm with resolution 0.05 mm and measure friction ranging 0-0.64 N. The results indicate that this sensing system meets the requirements in orthocenter deviation and friction measurement in wafer transmission process. © (2012) Trans Tech Publications.

关键词： Friction

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A real-time controller development framework for high degrees of freedom systems

A real-time controller development framework for high degree...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhou, Yang Wang, Bin Jiang, Li Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

Recently, the rapid development of high DOFs systems such as humanoids raises the need for a common and real-time control platform. Most works of control platforms focus mainly on software by C/C++. However, the lack of realtime becomes the limitation on controlling such complex robotic systems. In this paper, we present a real-time controller development framework for high DOFs systems. To take the best advantage of Hardware Description Language (HDL), a distributed field programmable gate arrays (FPGAs) controller network is provided. This framework also consists of robotic middleware and programming environment. The proposed scheme allows control of a wide class of robotic systems in hard real-time. A control platform under the framework is designed and applied on several mechatronic systems. Experiments are presented to show the performance on current computing hardware. © 2012 IEEE.

关键词： Real time control

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A rotary magnetorheological fluid damper for pathological tremor suppression

A rotary magnetorheological fluid damper for pathological tr...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yang, Tao Gao, Yongsheng Zhao, Jie Wang, Shengxin Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

This study explores the development of a new configuration of rotary magnetorheological fluid damper (MR damper) for pathological tremor suppression. In order to be attached to portable rehabilitation robot developed for practical application in robot assisted therapy, the proposed MR damper aims for design of compact size, light weight and enough output torque (about 4.5 Nm). An approach to form serpentine magnetic path by employing an offset electromagnetic coil and an asymmetric rotor is utilized to obtain a large radius and high area utilization rate of the magnetorheological fluid layer (thickness

关键词： Serpentine

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Dynamic dimensional synthesis of a precision 6-DOF parallel manipulator

Dynamic dimensional synthesis of a precision 6-DOF parallel ...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wu, Fangyong Wang, Lefeng Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781467312776

This paper presents the dynamic dimensional synthesis of a 6-degree-of-freedom (6-DOF) precision parallel manipulator with 3 inextensible links. The dynamic model of the parallel manipulator is provided in detail based on the inverse kinematics. A novel global dynamic performance index of parallel manipulator defined by the maximum driving torque of a single active joint is proposed as the optimization objective function. General design requirements of parallel manipulators such as workspace, speed and accuracy are transformed into polynomial inequalities and combined into a compact linear matrix inequality, thus the dynamic dimensional synthesis is transformed into a max det optimization problem. A set of optimized dimensional parameters of the parallel manipulator is obtained for achieving a good dynamic performance throughout the entire workspace of the manipulator. © 2012 IEEE.

关键词： Manipulators

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Micromachined biosensor system for interstitial fluid sampling and glucose monitoring

Micromachined biosensor system for interstitial fluid sampli...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Yaxin Huang, Bo Yao, Yufeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

Continuous blood glucose monitoring is critically important for people with diabetes mellitus. In this paper, considering the long-term, flexible blood glucose monitoring demand, a biosensor system for interstitial fluid (ISF) ultrafiltration sampling and on-line monitoring of blood glucose is presented. The sensor system mainly consists of microfluidics base, silicon glucose sensor chip, and pressure supply module. It could harvest sufficient ISF quickly for glucose monitoring and discharge the used ISF after each measurement. The silicon glucose sensor chip is provided with diffusion control of the analyte through a porous silicon membrane into a silicon etched cavity containing the agarose immobilised enzyme. Experimental results show that the sensor system meets the needs of flexible ISF sampling, and its signal response time at increasing glucose concentrations is about 5s;The linear range is large enough to cover the required broad area of blood glucose (0.2 ∼ 20 mmol/L), the sensitivity is 9.76 nA/mmol. L-1, and the correlation coefficient is 0.9954. This glucose sensor chip has better reliability and stability, and it is easier to integrate into the sensor system for ISF sampling and subsequent glucose monitoring. © 2012 IEEE.

关键词： Glucose sensors

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Numerical investigation of hydrodynamics of flapping caudal fin

Numerical investigation of hydrodynamics of flapping caudal ...

引用

2012 IEEE Symposium on Electrical and Electronics Engineering, EEESYM 2012

作者： Wu, Zhijun Chen, Weishan Liu, Junkao Shi, Shengjun Liu, Yingxiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467323659

This paper investigates the hydrodynamic performance of flapping caudal fin by means of numerical simulation. Dynamic simulations of caudal fin with heaving and pitching motion are conducted to determine the relationship between the maximum angle of attack and difference of phase angle in terms of thrust coefficient and propulsive efficiency under low frequency. Combing 20°30°maximum angle of attack with 70°90°difference of phase angle, outstanding propulsive efficiency can be obtained. In addition, qualitative analyses are made to the wake vortex spacing. This study shows that wake spacing has interaction with the thrust coefficient and the propulsive efficiency. © 2012 IEEE.

关键词： Angle of attack

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A time-optimal trajectory planning approach based on calculation cost consideration

A time-optimal trajectory planning approach based on calcula...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Xiao, Yongqiang Dong, Wei Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin 150080 China

ISBN: (纸本)9781467312776

A new smooth online near time-optimal trajectory planning approach is proposed to reduce the computation cost compared to traditional dynamics trajectory planning method. The robot path is expressed by a scalar path coordinate s. The joints torque bounds and speed bounds are transformed into the s-s plane, which can generate the limitation curves of pseudo-velocity. The maximum pseudo-velocity curve which meets the limitation of torque and speed is constructed through the feature points and control points in the s-s plane using cubic polynomial fitting method. Control points used for cubic polynomial construction are optimized by the Golden-Section method. The calculation time of this method is shorter than traditional dynamics method. Compared to five-order polynomial trajectory optimization method, the approach proposed in this paper can effectively take advantage of joints maximum speed. © 2012 IEEE.

关键词： Trajectories

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Kinematic analysis of jumping leg driven by artificial muscles

Kinematic analysis of jumping leg driven by artificial muscl...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhong, Jun Fan, Jizhuang Zhao, Jie Zhang, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

This paper presents a jumping four-bar mechanism using pneumatic muscle actuators. The mechanism has three joints and each one is powered by one artificial muscle;jumping and restoring action is achieved by muscle contracting force and spring respectively. Kinematic analysis is performed in landing and airborne phase respectively. Vertical jumping simulation is performed according to the prototype parameters and results demonstrate the kinematic analysis and show the torques supplied by muscles can meet the jumping requirement. © 2012 IEEE.

关键词： Muscle

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Cross-coupling control of dexterous hand based on neuron networks

Cross-coupling control of dexterous hand based on neuron net...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Gu, Haiwei Fan, Shaowei Zhang, Yuanfei Liu, Yiwei Jin, Minghe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization error and meanwhile realizes the real-time adjustment of multiple parameters. The results of experiments show that compared with cross-coupling control method of which the parameters are stable, the method proposed in the paper holds the advantage that it can decrease position error and increase the stability of position tracking. © 2012 IEEE.

关键词： Backpropagation

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